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Abstract: We study the path planning problem, without obstacles, for closed kinematic chains with n links connected by spherical joints in space or revolute joints in the plane. The configuration space of such systems is a real algebraic variety whose structure is fully determined using techniques from algebraic geometry and differential topology. This structure is then exploited to design a complete path planning algorithm that produces a sequence of compliant moves, each of which monotonically... (Update)
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BibTeX entry: (Update)
@misc{ computer-jc,
author = "Department Of Computer",
title = "J.C. Trinkle",
url = "citeseer.ist.psu.edu/751104.html" }
Citations (may not include all citations):329 Robot Motion Planning (context) - Latombe - 1991
290 The Complexity of Robot Motion Planning (context) - Canny - 1988
241 Probabilistic roadmaps for path planning in high-dimensional.. - Kavraki, Svestka et al. - 1996
137 Randomized preprocessing for configuration space for fast pa.. - Kavraki, Latombe - 1994
95 Randomized kinodynamic planning - LaValle, Kuffner - 2001
92 A probabilistic learning approach to motion planning - Overmars, Svestka - 1994
78 Differential Topology (context) - Guillemin, Pollack - 1974
62 Singular Points of Complex Hypersurfaces (context) - Milnor - 1967
30 A probabilistic roadmap approach for systems with closed kin.. - LaValle, Yakey et al. - 1999
24 Towards planning for elastic objects - Kavraki, Lamiraux et al. - 1998
18 Dexterous manipulation planning and execution of an envelope.. - Trinkle, Ram et al. - 1993
16 and Complexity of Robot Motion (context) - Schwartz, Hopcroft et al. - 1987
11 First-order stability cells of active multi-rigid-body syste.. - Trinkle, Farahat et al. - 1995
10 A framework for planning dexterous manipulation (context) - Trinkle, Hunter - 1991
10 Complements of discriminants of smooth maps (context) - Vassiliev - 1992
10 the moduli spaces of polygons in the euclidean plane - Kapovich, Millson - 1995
5 The geometry of con- figuration spaces for closed chains in .. (context) - Milgram, Trinkle - 2002
5 Special configurations of spatial mechanisms and robot arms (context) - Sugimoto, Duffy et al. - 1982
4 the geometry of contact formation cells for systems of polyg.. - Farahat, Stiller et al. - 1995
4 Personal communication (context) - Canny - 2002
2 Motion planning for planar n-bar mechanisms with revolute jo.. (context) - Trinkle, Milgram - 2001
2 Reconfiguring simple polygons (context) - Lenhart, Whitesides - 1994
2 Singularity-free fully-isotropic translational parallel mech.. (context) - Carricato, Parenti-Castelli - 2002
2 Mobility criteria of single loop nbar linkages (context) - Ting - 1989
1 Three-dimensional graphics tool for motion design (context) - Iarocci - 1994
1 Planning quasi-static fin- gertip manipulation for reconfigu.. (context) - Cherif, Gupta - 1999
1 Determination of the conditions of existence of complete cra.. (context) - Alizade, Sandor - 1985
1 Dexterous manipulation planning for a planar whole-arm manip.. (context) - Son - 1996
1 A kinematics-based probilistic roadmap method for closed-cha.. (context) - Han, Amato - 2000
1 the investigation of extrema in linkage analysis using screw.. (context) - Baker - 1978
1 The simplectic geometry of polygons in euclidean space (context) - Kapovich, Millson - 1996
1 Identification of special configurations of the octahedral m.. (context) - Downing, Samuel et al. - 2002
1 The maximum reach of revolute jointed manipulators (context) - Derby - 1980
1 Rotatability laws for n-bar kinematic chains and their proof (context) - Ting, Liu - 1991
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